The embodiment of the invention discloses a vehicle transverse control method and a system, a vehicle and a storage medium. The method comprises the steps: obtaining a first steering torque request value; determining a power-assisted steering torque according to the first steering torque request value; determining a first steering compensation torque according to the first steering torque requestvalue; and determining a target steering torque value according to the power-assisted steering torque and the first steering compensation torque. According to the embodiment of the invention, by optimizing the performance of an automatic driving transverse control execution terminal EPS, the torque platform phenomenon during automatic driving transverse control is eliminated, so that the vehicle can more accurately respond to a steering signal in the automatic driving process, and the clamping stagnation feeling of a steering wheel in actual response is reduced.
本发明实施例公开了一种车辆横向控制方法、系统、车辆及存储介质,所述方法包括:获取第一转向扭矩请求值;根据所述第一转向扭矩请求值确定转向助力矩;根据所述第一转向扭矩请求值确定第一转向补偿扭矩;根据所述转向助力矩和第一转向补偿扭矩确定目标转向扭矩值。本发明实施例通过对自动驾驶横向控制执行端EPS系统性能的优化,消除了自动驾驶横向控制时的扭矩平台现象,使得车辆在自动驾驶过程中能够更加准确地响应转向信号,降低方向盘在实际响应中会出现的卡滞感。
Vehicle transverse control method and system, vehicle and storage medium
车辆横向控制方法、系统、车辆及存储介质
2020-10-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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